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3 December 2018, 09:51 | Updated: 3 December 2018, 14:08
The group performed a special one-off song together at the final on Sunday (December 2).
He joined them on stage after watching them perform their classic 'Shine' as a trio. The performance also celebrated the band's new number one compilation Odyssey. Watch it below:
Meanwhile, Robbie also sang a duet of his biggest hit 'Angels' with finalist Scarlett Lee on Saturday.
Fellow finalists Dalton Harris and Anthony Russell sang duets with Emeli Sandé and Tom Walker, respectively. There were also performances from George Ezra, Anne-Marie and James Arthur.
On Sunday's finale, the finalists performed their potential winner's single, also as special duets. Dalton Harris sang a cover of Frankie Goes to Hollywood's 'The Power of Love' with James Arthur, Anthony Russell took on 'I Predict a Riot' with Kaiser Chiefs, and Scarlett Lee sang 'One More Sleep' with Leona Lewis.
Alongside Take That and Robbie, Sunday's show also had performances from Nile Rodgers and Chic, and Ellie Goulding.
Watch Take That's full performance below: